a    ,alpha ,d    ,theta,rotDir,maxAngle ,minAngle ,AxisVelocity
410  ,-90   ,865  ,0    ,-1    ,+185     ,-185     ,100         
1000 ,0     ,0    ,0    , 1    ,+3       ,-130      ,100         
45   ,+90   ,0    ,-90  , 1    ,+148     ,-120     ,100         
0    ,-90   ,-1000,0    , 1    ,+350     ,-350     ,154         
0    ,+90   ,0    ,0    , 1    ,+120     ,-120     ,167         
0    ,+180  ,-210 ,180  , 1    ,+350     ,-350     ,251         
